Homogeneous Approximation, Recursive Observer Design, and Output Feedback

Homogeneous Approximation, Recursive Observer Design, and Output Feedback

We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The ...

Observer-based quantized output feedback

This paper addresses the problem of stabilizing a nonlinear system by means of quantized output feedback. A conceptual framework is presented in which the control input is generated by an observer-based feedback controller acting on quantized output measurements. A stabilization result is established under the assumption that this observer-based controller possesses robustness with respect to o...

Homogeneous approximations and local observer design

ar X iv : 0 90 3 . 02 98 v 1 [ m at h . O C ] 2 M ar 2 00 9 HOMOGENEOUS APPROXIMATION RECURSIVE OBSERVER DESIGN AND OUTPUT FEEDBACK

We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The ...

Recursive Observer Design beyond the Uniform Observability

We propose a novel recursive design scheme of state observer for lower triangular nonlinear systems. The design begins from the bottom dynamics and propagates to upper dynamics recalling the backstepping scheme for nonlinear control. The proposed class of systems is fairly general since it includes non-uniformly observable or detectable multi-output systems. The error convergence to zero is pro...